AKT2G-SM-Lx Object Description

1011:0

Restore default parameters

Restore default parameters

UINT8

RO

8000:0

ENC Settings Ch.1

Maximum subindex

UINT8

RO

8000:08

Disable filter

Deactivates the input filters.

BOOLEAN

RW

8000:0A

Enable micro increments

The lower 8 bits of the counter value are extrapolated.

BOOLEAN

RW

8010:0

STM Motor Settings Ch.1

UINT8

RO

8010:01

Maximal current

Maximum permanent motor coil current Unit: 1 mA

UINT16

RW

8010:02

Reduced current

Reduced coil current Unit: 1 mA

UINT16

RW

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor Unit: 10 mV

UINT16

RW

8010:04

Motor coil resistance

Internal resistance of the motor Unit: 10 mOhm

UINT16

RW

8010:05

Motor EMF

Countervoltage of the motor Unit: 1 mV / (rad/s)

UINT16

RW

8010:06

Motor fullsteps

Number of full motor steps

UINT16

RW

8010:07

Encoder increments (4-fold)

Number of encoder increments per revolution with quadruple evaluation

UINT16

RW

8010:09

Start velocity

Minimum starting velocity of the motor

Unit: 10000 corresponds to 100%

UINT16

RW

8010:0A

Motor coil inductance

Inductance of the motor Unit: 0.01 mH

UINT16

RW

8010:10

Drive on delay time

Delay between activation of driver stage and „ready = 1“

UINT16

RW

8011:0

STM Controller Settings Ch.1

Maximum subindex

UINT8

RO

8011:01

Kp factor (curr.)

Kp control factor of the current controller

UINT16

RW

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

8012:01

Operation mode

permitted values:

BIT4

RW

0: Automatic

1: Velocity direct

3: Position controller

4: Ext. Velocity mode

5: Ext. Position mode

6: Velocity sensorless

8012:05

Speed range

permitted values:

BIT3

RW

0: 1000 Fullsteps/sec

1: 2000 Fullsteps/sec

2: 4000 Fullsteps/sec

3: 8000 Fullsteps/sec

4: 16000 Fullsteps/sec

5: 32000 Fullsteps/sec

8012:08

Feedback type

permitted values:

BIT1

RW

0: Encoder

1: Internal counter

8012:09

Invert motor polarity

Invert the direction of rotation of the motor

BOOLEAN

RW

8012:0A

Error on step lost

Error on loss of step

BOOLEAN

RW

8012:11

Select info data 1

permitted values:

UINT8

RW

0: Status word

7: Motor velocity

11: Motor load

13: Motor dc current

101: Internal temperature

103: Control voltage

104: Motor supply voltage

150: Drive - Status word

151: Drive – State

152: Drive - Position lag (low word)

8012:19

Select info data 2

permitted values:

UINT8

RW

0: Status word

7: Motor velocity

11: Motor load

13: Motor dc current

101: Internal temperature

103: Control voltage

104: Motor supply voltage

150: Drive - Status word

151: Drive - State

152: Drive - Position lag (low word)

153: Drive - Position lag (high word)

8012:30

Invert digital input 1

Invert digital input

BOOLEAN

RW

8012:31

Invert digital input 2

Invert digital input

BOOLEAN

RW

8012:32

Function for input 1

permitted values:

BIT4

RW

0: Normal input

1: Hardware enable

2: PLC cam

8012:36

Function for input 2

permitted values:

BIT4

RW

0: Normal input

1: Hardware enable

2: PLC cam

8012:3A

Function for output 1

permitted values:

BIT4

RW

0: Normal output

1: Break (linked with driver enable)

8014:0

STM Controller Settings 3 Ch.1

Maximum subindex

UINT8

RO

8014:01

Feed forward (pos.)

Pilot control of the position controller

UINT32

RW

8014:02

Kp factor (pos.)

Kp control factor of the position controller

UINT16

RW

8014:03

Kp factor (velo.)

Kp control factor of the velocity controller Unit: 0.1 mA / (rad/s)

UINT32

RW

8014:04

Tn (velo.)

Time constant Tn of the velocity controller Unit: 0.01 ms

UINT16

RW

8014:05

Sensorless param 1

First parameter (sensorless control)

UINT16

RW

8014:06

Sensorless param 2

Second parameter (sensorless control)

UINT16

RW

8014:07

Cross over velocity 1

First velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

8014:08

Cross over velocity 2

Second velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

8020:0

POS Settings Ch.1

Maximum subindex

UINT8

RO

8020:01

Velocity min.

Minimum set velocity (range: 0-10000)

INT16

RW

8020:02

Velocity max.

Maximum set velocity (range: 0-10000)

INT16

RW

8020:03

Acceleration pos.

Acceleration in positive direction of rotation Unit: 1 ms

UINT16

RW

8020:04

Acceleration neg.

Acceleration in negative direction of rotation Unit: 1 ms

UINT16

RW

8020:05

Deceleration pos.

Deceleration in positive direction of rotation Unit: 1 ms

UINT16

RW

8020:06

Deceleration neg.

Deceleration in negative direction of rotation Unit: 1 ms

UINT16

RW

8020:07

Emergency deceleration

Emergency deceleration (both directions of rotation) Unit: 1 ms

UINT16

RW

8020:08

Calibration position

Calibration position

UINT32

RW

8020:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam (range: 0-10000)

INT16

RW

8020:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam (range: 0-10000)

INT16

RW

8020:0B

Target window

Target window

UINT16

RW

8020:0C

In-Target timeout

Target position timeout Unit: 1 ms

UINT16

RW

8020:0D

Dead time compensation

Dead time compensation Unit: 1 µs

INT16

RW

8020:0E

Modulo factor

Modulo factor/position

UINT32

RW

8020:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

8021:0

POS Features Ch.1

Maximum subindex

UINT8

RO

8021:01

Start type

permitted values:

UINT16

RW

0: Idle

1: Absolute

2: Relative

3: Endless plus

4: Endless minus

6: Additive

24832: Calibration (Hardware sync)

24576: Calibration (Plc cam)

28416: Calibration (Clear manual)

28160: Calibration (Set manual)

28161: Calibration (Set manual auto)

1029: Modulo current

773: Modulo minus

517: Modulo plus

261: Modulo short

8021:11

Time information

permitted values:

BIT2

RW

0: Elapsed time

current drive time since start of the travel command

8021:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

8021:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

8021:15

Emergency stop on position lag error

Triggers an emergency stop if the maximum following error is exceeded

BOOLEAN

RW

FB00:0

STM Command

Maximum subindex

UINT8

RO

FB00:01

Request

Requesting a command

0x8000: Software reset

OCTET-

STRING[2]

RW

FB00:02

Status

Status of the command

UINT8

RO

0: No error, without return value

1: No error, with return value

2: With error, without return value

3: With error, with return value

... reserved

255: Command execution active

6000:0

ENC Inputs Ch.1

Maximum subindex

UINT8

RO

6000:01

Latch C valid

The counter value was latched with the C track.

BOOLEAN

RO

6000:02

Latch extern valid

The counter value was stored via the external latch.

BOOLEAN

RO

6000:03

Set counter done

The counter was set.

BOOLEAN

RO

6000:04

Counter underflow

Counter underflow.

BOOLEAN

RO

6000:05

Counter overflow

Counter overflow.

BOOLEAN

RO

6000:08

Extrapolation stall

The extrapolated part of the counter is invalid

BOOLEAN

RO

6000:09

Status of input A

Status of the A-input.

BOOLEAN

RO

6000:0A

Status of input B

Status of the B-input.

BOOLEAN

RO

6000:0B

Status of input C

Status of the C-input.

BOOLEAN

RO

6000:0D

Status of extern latch

Status of the ext. latch input.

BOOLEAN

RO

6000:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

6000:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

6000:11

Counter value

The counter value.

UINT32

RO

6000:12

Latch value

The latch value.

UINT32

RO

6010:0

STM Inputs Ch.1

Maximum subindex

UINT8

RO

6010:01

Ready to enable

Driver stage is ready for enabling

BOOLEAN

RO

6010:02

Ready

Driver stage is ready for operation

BOOLEAN

RO

6010:03

Warning

a warning has occurred (see Index A010 STM Diag data Ch.1)

BOOLEAN

RO

6010:04

Error

an error has occurred (see Index A010 STM Diag data Ch.1)

BOOLEAN

RO

6010:05

Moving positive

Driver stage is activated in positive direction

BOOLEAN

RO

6010:06

Moving negative

Driver stage is activated in negative direction

BOOLEAN

RO

6010:07

Torque reduced

Reduced torque is active

BOOLEAN

RO

6010:08

Motor stall

A loss of step has occurred

BOOLEAN

RO

6010:0C

Digital input 1

Digital input 1

BOOLEAN

RO

6010:0D

Digital input 2

Digital input 2

BOOLEAN

RO

6010:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

6010:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

6010:11

Info data 1

Synchronous information (selection via subindex 8012:11)

UINT16

RO

6010:12

Info data 2

Synchronous information (selection via subindex 8012:19)

UINT16

RO

6010:13

Motor load

Current motor load Unit: 0.01°

INT16

RO

6010:14

Internal position

Internal microstep position

UINT32

RO

6020:0

POS Inputs Ch.1

Maximum subindex

UINT8

RO

6020:01

Busy

A current travel command is active

BOOLEAN

RO

6020:02

In-Target

Motor has arrived at target

BOOLEAN

RO

6020:03

Warning

A warning has occurred

BOOLEAN

RO

6020:04

Error

an error has occurred

BOOLEAN

RO

6020:05

Calibrated

Motor is calibrated

BOOLEAN

RO

6020:06

Accelerate

Motor is in the acceleration phase

BOOLEAN

RO

6020:07

Decelerate

Motor is in the deceleration phase

BOOLEAN

RO

6020:11

Actual position

Current target position of the travel command generator

UINT32

RO

6020:21

Actual velocity

Current set velocity of the travel command generator

INT16

RO

6020:22

Actual drive time

Travel command time information (see subindex 8021:11)

UINT32

RO

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

7010:0

STM Outputs Ch.1

Maximum subindex

UINT8

RO

7010:01

Enable

activates the output stage

BOOLEAN

RO

7010:02

Reset

all errors that may have occurred are reset by setting this bit (rising edge)

BOOLEAN

RO

7010:03

Reduce torque

Reduced torque (coil current) is active (see subindex 8010:02)

BOOLEAN

RO

7010:0C

Digital output 1

Digital output 1

BOOLEAN

RO

7010:11

Position

Set position specification Unit: Increments

UINT32

RO

7020:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

7020:01

Execute

Start travel command (rising edge), or prematurely abort travel command (falling edge)

BOOLEAN

RO

7020:02

Emergency Stop

Prematurely abort travel command with an emergency ramp (rising edge)

BOOLEAN

RO

7020:11

Target position

Specification of the target position

UINT32

RO

7020:22

Start type

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0001 Absolute: Absolute target position

UINT16

RO

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x6100 Calibration, HW sync: Calibration with cam and C-track

UINT16

RO

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

7020:23

Acceleration

Acceleration specification

UINT16

RO

7021:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

7021:03

Enable auto start

Enable auto start

BOOLEAN

RO

7021:11

Target position

Specification of the target position

UINT32

RO

7021:22

Start type

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0001 Absolute: Absolute target position

UINT16

RO

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x6100 Calibration, HW sync: Calibration with cam and C-track

UINT16

RO

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

7021:23

Acceleration

Acceleration specification

UINT16

RO

9010:0

STM Info data Ch.1

Maximum subindex

UINT8

RO

9010:01

Status word

Status word (see index Index A010 STM Diag data Ch.1)

UINT16

RO

9010:08

Motor velocity

Current motor velocity

INT16

RO

9010:09

Internal position

Internal position (micro increments)

UINT32

RO

9010:0B

Motor load

Current motor load Unit: 0.01°

INT16

RO

9010:0D

Motor dc current

Current motor current (DC vector) Unit: 1 mA

INT16

RO

9010:0E

Tn (curr.)

Internally calculated time constant of the current controller

Unit: 0.01 ms

UINT16

RO

9020:0

POS Info data Ch.1

Maximum subindex

UINT8

RO

9020:01

Status word

Status word

UINT16

RO

9020:03

State (drive controller)

permitted values:

UINT16

RO

0: Init

1: Idle

272: Go cam

273: On cam

16: Start

17: Acceleration

18: Constant

19: Deceleration

288: Go sync impulse

289: Leave cam

4096: Pre target

4097: In target

32: Emergency Stop

33: Normal stop

304: Calibration stop

8192: Drive end

8193: Wait for init

320: Is calibrated

321: Not calibrated

16384: Drive warning

32768: Error

65535: Undefined

256: Calibration start

A010:0

STM Diag data Ch.1

Maximum subindex

UINT8

RO

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

A010:02

Over temperature

Internal terminal temperature is greater than 80 °C

BOOLEAN

RO

A010:03

Torque overload

Duty cycle output at 100%

BOOLEAN

RO

A010:04

Under voltage

Supply voltage less than 7 V

BOOLEAN

RO

A010:05

Over voltage

Supply voltage 10 % higher than the nominal voltage (see 8010:03)

BOOLEAN

RO

A010:06

Short circuit

Short circuit of motor coil

BOOLEAN

RO

A010:08

No control power

No power supply to driver stage

BOOLEAN

RO

A010:09

Misc error

• Initialization failed or
• Internal terminal temperature is higher than 100 °C (see F80F:05)

BOOLEAN

RO

A010:0A

Configuration

CoE change has not yet been adopted into the current configuration

BOOLEAN

RO

A010:0B

Motor stall

A loss of step has occurred

BOOLEAN

RO

A010:11

Actual operation mode

permitted values:

BIT4

RO

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

4: Ext. Velocity mode

5: Ext. Position mode

A020:0

POS Diag data Ch.1

Maximum subindex

UINT8

RO

A020:01

Command rejected

Travel command was rejected

BOOLEAN

RO

A020:02

Command

aborted

Travel command was aborted

BOOLEAN

RO

A020:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

A020:04

Target timeout

The target window was not reached within the in-target timeout

BOOLEAN

RO

A020:05

Position lag

The maximum following error was exceeded

BOOLEAN

RO

F80F:0

STM Vendor data

Maximum subindex

UINT8

RO

F80F:04

Warning temperature

Temperature warning threshold Unit: 1 °C

INT8

RW

F900:0

STM Info data

Maximum subindex

UINT8

RO

F900:01

Software version (driver)

Software version of the output driver

STRING

RO

F900:02

Internal temperature

Internal terminal temperature Unit: 1 °C

INT8

RO

F900:04

Control voltage

Control voltage

Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

F900:05

Motor supply voltage

Motor supply voltage

Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

F010:0

Module list

Maximum subindex

UINT8

RW

F010:01

SubIndex 001

Encoder profile number

UINT32

RW

F010:02

SubIndex 002

Stepper motor profile number

UINT32

RW

F081:0

Download revision

Maximum subindex

UINT8

RO

FB40:0

Memory interface

Maximum subindex

UINT8

RO

FB40:01

Address

reserved

UINT32

RW

FB40:02

Length

reserved

UINT16

RW